Source Code
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These source-code files are part of a reconstructed copy of Artemis 071, the
first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with source code of Artemis 072 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes between the two versions. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021154-. Note that page
numbers in the reconstructed code match those on the Artemis 072 printout,
although the changed code would likely have changed page numbers for a real
Artemis 071 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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017783,000002: ## Copyright: Public domain.
017784,000003: ## Filename: ANGLFIND.agc
017785,000004: ## Purpose: A section of Artemis revision 071.
017786,000005: ## It is part of the reconstructed source code for the first
017787,000006: ## release of the flight software for the Command Module's
017788,000007: ## (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
017789,000008: ## 17. The code has been recreated from a copy of Artemis 072.
017790,000009: ## It has been adapted such that the resulting bugger words
017791,000010: ## exactly match those specified for Artemis 071 in NASA
017792,000011: ## drawing 2021154-, which gives relatively high confidence
017793,000012: ## that the reconstruction is correct.
017794,000013: ## Reference: 403
017795,000014: ## Assembler: yaYUL
017796,000015: ## Contact: Ron Burkey <info@sandroid.org>.
017797,000016: ## Website: www.ibiblio.org/apollo/index.html
017798,000017: ## Mod history: 2019-08-14 MAS Created from Artemis 072.
017799,000018:
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Page 403
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017801,000020: 22,2000 SETLOC KALCMON1
017802,000021: 22,2000 BANK
017803,000022:
017804,000023: 22,2000 E6,1661 EBANK= BCDU
017805,000024:
017806,000025: 22,2000 COUNT* $$/KALC
017807,000026: 22,2000 06006 KALCMAN3 TC INTPRET
017808,000027: 22,2001 77634 +1 RTB
017809,000028: 22,2002 44370 READCDUK # PICK UP CURRENT CDU ANGLES
017810,000029: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017811,000030: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017812,000031: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017813,000032: 22,2006 03262 BCDU # (MIS)
017814,000033: 22,2007 77624 CALL
017815,000034: 22,2010 44377 CDUTODCM
017816,000035: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017817,000036: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017818,000037: 22,2013 01310 CPHI # (MFS)
017819,000038: 22,2014 77624 CALL
017820,000039: 22,2015 44377 CDUTODCM
017821,000040: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017822,000041: 22,2017 03320 MIS
017823,000042: 22,2020 44334 TRANSPOS
017824,000043: 22,2021 77775 VLOAD
017825,000044: 22,2022 77626 STADR
017826,000045: 22,2023 50474 STOVL TMIS +12D
017827,000046: 22,2024 77626 STADR
017828,000047: 22,2025 50502 STOVL TMIS +6
017829,000048: 22,2026 77626 STADR
017830,000049: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017831,000050: 22,2030 75160 AXC,1 AXC,2
017832,000051: 22,2031 03266 TMIS
017833,000052: 22,2032 03425 MFS
017834,000053: 22,2033 77624 CALL
017835,000054: 22,2034 44304 MXM3
017836,000055: 22,2035 45575 VLOAD STADR
017837,000056: 22,2036 50335 STOVL MFI +12D
017838,000057: 22,2037 77626 STADR
017839,000058: 22,2040 50343 STOVL MFI +6
017840,000059: 22,2041 77626 STADR
017841,000060: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017842,000061: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017843,000062: 22,2044 00023 18D
017844,000063: 22,2045 44343 TRNSPSPD
017845,000064: 22,2046 45575 VLOAD STADR
017846,000065: 22,2047 50474 STOVL TMFI +12D
017847,000066: 22,2050 77626 STADR
017848,000067: 22,2051 50502 STOVL TMFI +6
017849,000068: 22,2052 77626 STADR
017850,000069: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
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Page 404
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017852,000071:
017853,000072: # CALCULATE COFSKEW AND MFISYM
017854,000073:
017855,000074: 22,2054 45345 DLOAD DSU
017856,000075: 22,2055 03271 TMFI +2
017857,000076: 22,2056 03430 MFI +2
017858,000077: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017859,000078: 22,2060 03432 MFI +4
017860,000079: 22,2061 03273 TMFI +4
017861,000080: 22,2062 45325 PDDL DSU
017862,000081: 22,2063 03301 TMFI +10D
017863,000082: 22,2064 03440 MFI +10D
017864,000083: 22,2065 77666 VDEF
017865,000084: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017866,000085:
017867,000086: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017868,000087:
017869,000088: 22,2067 43345 DLOAD DAD
017870,000089: 22,2070 03426 MFI
017871,000090: 22,2071 03446 MFI +16D
017872,000091: 22,2072 43225 DSU DAD
017873,000092: 22,2073 15326 DP1/4TH
017874,000093: 22,2074 03436 MFI +8D
017875,000094: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017876,000095: 22,2076 77726 ARCCOS
017877,000096: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017878,000097: 22,2100 51025 DSU BPL
017879,000098: 22,2101 04367 MINANG
017880,000099: 22,2102 44111 CHECKMAX
017881,000100: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017882,000101: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017883,000102: 22,2105 44770 CS ONE # ABOUT COMMANDED ANGLES
017884,000103: 22,2106 55340 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017885,000104: 22,2107 03163 TC LOADCDUD # GOOD RETURN
017886,000105: 22,2110 12723 TCF NOGO
017887,000106:
017888,000107: 22,2111 45345 CHECKMAX DLOAD DSU
017889,000108: 22,2112 03365 AM
017890,000109: 22,2113 04370 MAXANG
017891,000110: 22,2114 77244 BPL VLOAD
017892,000111: 22,2115 44123 ALTCALC # UNIT
017893,000112: 22,2116 03311 COFSKEW # COFSKEW
017894,000113: 22,2117 77656 UNIT
017895,000114: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017896,000115: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017897,000116: 22,2122 44745 LOCSKIRT
017898,000117: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017899,000118: 22,2124 03426 MFI
017900,000119: 22,2125 03267 TMFI
017901,000120: 22,2126 77762 VSR1
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Page 405
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017903,000122: 22,2127 27267 STOVL MFISYM
017904,000123: 22,2130 03434 MFI +6
017905,000124: 22,2131 74455 VAD VSR1
017906,000125: 22,2132 03275 TMFI +6
017907,000126: 22,2133 27275 STOVL MFISYM +6
017908,000127: 22,2134 03442 MFI +12D
017909,000128: 22,2135 74455 VAD VSR1
017910,000129: 22,2136 03303 TMFI +12D
017911,000130: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
017912,000131:
017913,000132:
017914,000133: # CALCULATE COF
017915,000134:
017916,000135: 22,2140 70545 DLOAD SR1
017917,000136: 22,2141 03317 CAM
017918,000137: 22,2142 45325 PDDL DSU # PD0 CAM $4
017919,000138: 22,2143 15334 DPHALF
017920,000139: 22,2144 03317 CAM
017921,000140: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
017922,000141: 22,2146 45761 SIGNMPAC
017923,000142: 22,2147 03307 MFISYM +16D
017924,000143: 22,2150 56225 DSU DDV
017925,000144: 22,2151 00001 0
017926,000145: 22,2152 00003 2
017927,000146: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
017928,000147: 22,2154 03277 MFISYM +8D # $ ROOT 2
017929,000148: 22,2155 56225 DSU DDV
017930,000149: 22,2156 00001 0
017931,000150: 22,2157 00003 2
017932,000151: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017933,000152: 22,2161 03267 MFISYM
017934,000153: 22,2162 56225 DSU DDV
017935,000154: 22,2163 00001 0
017936,000155: 22,2164 00003 2
017937,000156: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017938,000157: 22,2166 77656 UNIT
017939,000158: 22,2167 03343 STORE COF
017940,000159:
017941,000160: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017942,000161:
017943,000162: 22,2170 45345 COFMAXGO DLOAD DSU
017944,000163: 22,2171 03343 COF
017945,000164: 22,2172 03345 COF +2
017946,000165: 22,2173 71240 BMN DLOAD # COFY G COFX
017947,000166: 22,2174 44203 COMP12
017948,000167: 22,2175 03343 COF
017949,000168: 22,2176 50025 DSU BMN
017950,000169: 22,2177 03347 COF +4
017951,000170: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017952,000171: 22,2201 77650 GOTO
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Page 406
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017954,000173: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017955,000174: 22,2203 45345 COMP12 DLOAD DSU
017956,000175: 22,2204 03345 COF +2
017957,000176: 22,2205 03347 COF +4
017958,000177: 22,2206 77640 BMN
017959,000178: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017960,000179:
017961,000180: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017962,000181: 22,2211 03313 COFSKEW +2 # UY
017963,000182: 22,2212 44216 U2POS
017964,000183: 22,2213 57575 VLOAD VCOMP
017965,000184: 22,2214 03343 COF
017966,000185: 22,2215 03343 STORE COF
017967,000186: 22,2216 51145 U2POS DLOAD BPL
017968,000187: 22,2217 03271 MFISYM +2 # UX UY
017969,000188: 22,2220 44224 OKU21
017970,000189: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
017971,000190: 22,2222 03343 COF
017972,000191: 22,2223 03343 STORE COF
017973,000192: 22,2224 51145 OKU21 DLOAD BPL
017974,000193: 22,2225 03301 MFISYM +10D # UY UZ
017975,000194: 22,2226 44745 LOCSKIRT
017976,000195: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017977,000196: 22,2230 03347 COF +4
017978,000197: 22,2231 03347 STORE COF +4
017979,000198: 22,2232 77650 GOTO
017980,000199: 22,2233 44745 LOCSKIRT
017981,000200: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
017982,000201: 22,2235 03311 COFSKEW # UX
017983,000202: 22,2236 44242 U1POS
017984,000203: 22,2237 57575 VLOAD VCOMP
017985,000204: 22,2240 03343 COF
017986,000205: 22,2241 03343 STORE COF
017987,000206: 22,2242 51145 U1POS DLOAD BPL
017988,000207: 22,2243 03271 MFISYM +2 # UX UY
017989,000208: 22,2244 44250 OKU12
017990,000209: 22,2245 57545 DLOAD DCOMP
017991,000210: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
017992,000211: 22,2247 03345 STORE COF +2
017993,000212: 22,2250 51145 OKU12 DLOAD BPL
017994,000213: 22,2251 03273 MFISYM +4 # UX UZ
017995,000214: 22,2252 44745 LOCSKIRT
017996,000215: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017997,000216: 22,2254 03347 COF +4
017998,000217: 22,2255 03347 STORE COF +4
017999,000218: 22,2256 77650 GOTO
018000,000219: 22,2257 44745 LOCSKIRT
018001,000220: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
018002,000221: 22,2261 03315 COFSKEW +4 # UZ
018003,000222: 22,2262 44266 U3POS
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Page 407
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018005,000224: 22,2263 57575 VLOAD VCOMP
018006,000225: 22,2264 03343 COF
018007,000226: 22,2265 03343 STORE COF
018008,000227: 22,2266 51145 U3POS DLOAD BPL
018009,000228: 22,2267 03273 MFISYM +4 # UX UZ
018010,000229: 22,2270 44274 OKU31
018011,000230: 22,2271 57545 DLOAD DCOMP
018012,000231: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
018013,000232: 22,2273 03343 STORE COF
018014,000233: 22,2274 51145 OKU31 DLOAD BPL
018015,000234: 22,2275 03301 MFISYM +10D # UY UZ
018016,000235: 22,2276 44745 LOCSKIRT
018017,000236: 22,2277 57545 DLOAD DCOMP
018018,000237: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
018019,000238: 22,2301 03345 STORE COF +2
018020,000239: 22,2302 77650 GOTO
018021,000240: 22,2303 44745 LOCSKIRT
018022,000241:
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Page 408
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018024,000243: # MATRIX OPERATIONS
018025,000244:
018026,000245: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
018027,000246: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
018028,000247: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
018029,000248: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
018030,000249: 22,2310 77770 6,2
018031,000250: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
018032,000251: 22,2312 77776 0,2
018033,000252: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
018034,000253: 22,2314 00001 0,1
018035,000254: 22,2315 77760 14D,2
018036,000255: 22,2316 64723 PDDL* PDDL*
018037,000256: 22,2317 77766 8D,2
018038,000257: 22,2320 77774 2,2
018039,000258: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
018040,000259: 22,2322 00001 0,1
018041,000260: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
018042,000261: 22,2324 77756 16D,2
018043,000262: 22,2325 77764 10D,2
018044,000263: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
018045,000264: 22,2327 77772 4,2
018046,000265: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
018047,000266: 22,2331 00001 0,1
018048,000267: 22,2332 77650 GOTO
018049,000268: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
018050,000269: # RETURN WITH M1XM2 IN PD LIST
018051,000270:
018052,000271: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
018053,000272: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
018054,000273: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
018055,000274: 22,2337 62713 PDVL* PDVL*
018056,000275: 22,2340 00007 6,1
018057,000276: 22,2341 00015 12D,1
018058,000277: 22,2342 77606 PUSH # MATRIX IN PD
018059,000278: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
018060,000279: 22,2344 00003 2
018061,000280: 22,2345 00007 6
018062,000281: 22,2346 14003 STODL 2
018063,000282: 22,2347 77626 STADR
018064,000283: 22,2350 63770 STODL 6
018065,000284: 22,2351 00005 4
018066,000285: 22,2352 77725 PDDL
018067,000286: 22,2353 00015 12D
018068,000287: 22,2354 14005 STODL 4
018069,000288: 22,2355 77626 STADR
018070,000289: 22,2356 63762 STODL 12D
018071,000290: 22,2357 00013 10D
018072,000291: 22,2360 77725 PDDL
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Page 409
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018074,000293: 22,2361 00017 14D
018075,000294: 22,2362 14013 STODL 10D
018076,000295: 22,2363 77626 STADR
018077,000296: 22,2364 77760 STORE 14D
018078,000297: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
018079,000298: 22,2366 00013 MINANG DEC .00069375
018080,000299: 22,2367 17071 MAXANG DEC .472222
018081,000300: 22,2370 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
018082,000301: 22,2371 30034 CA CDUZ
018083,000302: 22,2372 54156 TS MPAC +2
018084,000303: 22,2373 00006 EXTEND
018085,000304: 22,2374 30033 DCA CDUX
018086,000305: 22,2375 00003 RELINT
018087,000306: 22,2376 16445 TCF TLOAD +6
018088,000307: 22,2000 SETLOC KALCMON2
018089,000308: 22,2000 BANK
018090,000309:
018091,000310: 22,2377 COUNT* $$/KALC
018092,000311:
018093,000312: 22,2377 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
018094,000313: 22,2400 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
018095,000314: 22,2401 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
018096,000315: 22,2402 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
018097,000316: 22,2403 00010 STORE 7
018098,000317: 22,2404 77601 SETPD
018099,000318: 22,2405 00001 0
018100,000319: 22,2406 47133 LOOPSIN SLOAD* RTB
018101,000320: 22,2407 00013 10D,1
018102,000321: 22,2410 51754 CDULOGIC
018103,000322: 22,2411 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
018104,000323: 22,2412 65356 SIN PDDL # 2 COS(PHI)
018105,000324: 22,2413 00013 10D # 4 SIN(THETA)
018106,000325: 22,2414 41546 COS PUSH # 6 COS(THETA)
018107,000326: 22,2415 71300 TIX,1 DLOAD # 8 SIN(PSI)
018108,000327: 22,2416 44406 LOOPSIN # 10 COS(PSI)
018109,000328: 22,2417 00007 6
018110,000329: 22,2420 72405 DMP SL1
018111,000330: 22,2421 00013 10D
018112,000331: 22,2422 10001 STORE 0,2
018113,000332: 22,2423 77745 DLOAD
018114,000333: 22,2424 00005 4
018115,000334: 22,2425 65205 DMP PDDL
018116,000335: 22,2426 00001 0 # (PD6 SIN(THETA)SIN(PHI))
018117,000336: 22,2427 00007 6
018118,000337: 22,2430 41205 DMP DMP
018119,000338: 22,2431 00011 8D
018120,000339: 22,2432 00003 2
018121,000340: 22,2433 44352 SL1 BDSU
018122,000341: 22,2434 00015 12D
018123,000342: 22,2435 77752 SL1
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Page 410
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018125,000344: 22,2436 10003 STORE 2,2
018126,000345: 22,2437 77745 DLOAD
018127,000346: 22,2440 00003 2
018128,000347: 22,2441 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
018129,000348: 22,2442 00005 4
018130,000349: 22,2443 00007 6
018131,000350: 22,2444 41205 DMP DMP
018132,000351: 22,2445 00011 8D
018133,000352: 22,2446 00001 0
018134,000353: 22,2447 77752 SL1
018135,000354: 22,2450 72415 DAD SL1
018136,000355: 22,2451 00017 14D
018137,000356: 22,2452 10005 STORE 4,2
018138,000357: 22,2453 77745 DLOAD
018139,000358: 22,2454 00011 8D
018140,000359: 22,2455 10007 STORE 6,2
018141,000360: 22,2456 77745 DLOAD
018142,000361: 22,2457 00013 10D
018143,000362: 22,2460 72405 DMP SL1
018144,000363: 22,2461 00003 2
018145,000364: 22,2462 10011 STORE 8D,2
018146,000365: 22,2463 77745 DLOAD
018147,000366: 22,2464 00013 10D
018148,000367: 22,2465 57405 DMP DCOMP
018149,000368: 22,2466 00001 0
018150,000369: 22,2467 77752 SL1
018151,000370: 22,2470 10013 STORE 10D,2
018152,000371: 22,2471 77745 DLOAD
018153,000372: 22,2472 00005 4
018154,000373: 22,2473 57405 DMP DCOMP
018155,000374: 22,2474 00013 10D
018156,000375: 22,2475 77752 SL1
018157,000376: 22,2476 10015 STORE 12D,2
018158,000377: 22,2477 77745 DLOAD
018159,000378: 22,2500 72405 DMP SL1 # (PUSH UP 7)
018160,000379: 22,2501 00011 8D
018161,000380: 22,2502 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
018162,000381: 22,2503 00007 6
018163,000382: 22,2504 00001 0
018164,000383: 22,2505 72415 DAD SL1 # (PUSH UP 7)
018165,000384: 22,2506 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
018166,000385: 22,2507 67760 STORE 14D,2
018167,000386: 22,2510 77745 DLOAD
018168,000387: 22,2511 72405 DMP SL1 # (PUSH UP 6)
018169,000388: 22,2512 00011 8D
018170,000389: 22,2513 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
018171,000390: 22,2514 00007 6
018172,000391: 22,2515 00003 2
018173,000392: 22,2516 72425 DSU SL1 # (PUSH UP 6)
018174,000393: 22,2517 77626 STADR
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Page 411
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018176,000395: 22,2520 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
018177,000396: 22,2521 77616 RVQ # +COS(THETA)COS(PHI)
018178,000397: 22,2522 ENDOCM EQUALS
018179,000398:
018180,000399: 22,2000 SETLOC KALCMON1
018181,000400: 22,2000 BANK
018182,000401:
018183,000402: # CALCULATION OF THE MATRIX DEL......
018184,000403:
018185,000404: # * * --T *
018186,000405: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
018187,000406:
018188,000407: # -
018189,000408: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
018190,000409: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
018191,000410: # -
018192,000411: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
018193,000412:
018194,000413: 22,2522 COUNT* $$/KALC
018195,000414: 22,2522 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
018196,000415: 22,2523 00001 0
018197,000416: 22,2524 65356 SIN PDDL # PD0 = SIN(A)
018198,000417: 22,2525 41546 COS PUSH # PD2 = COS(A)
018199,000418: 22,2526 65302 SR2 PDDL # PD2 = COS(A) $8
018200,000419: 22,2527 41021 BDSU BOVB # PD4 = 1-COS(A) $2
018201,000420: 22,2530 15334 DPHALF
018202,000421: 22,2531 45761 SIGNMPAC
018203,000422:
018204,000423: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
018205,000424:
018206,000425: 22,2532 77725 PDDL
018207,000426: 22,2533 03343 COF
018208,000427: 22,2534 41316 DSQ DMP
018209,000428: 22,2535 00005 4
018210,000429: 22,2536 52415 DAD SL3
018211,000430: 22,2537 00003 2
018212,000431: 22,2540 77604 BOVB
018213,000432: 22,2541 45761 SIGNMPAC
018214,000433: 22,2542 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
018215,000434: 22,2543 03345 COF +2
018216,000435: 22,2544 41316 DSQ DMP
018217,000436: 22,2545 00005 4
018218,000437: 22,2546 52415 DAD SL3
018219,000438: 22,2547 00003 2
018220,000439: 22,2550 77604 BOVB
018221,000440: 22,2551 45761 SIGNMPAC
018222,000441: 22,2552 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
018223,000442: 22,2553 03347 COF +4
018224,000443: 22,2554 41316 DSQ DMP
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Page 412
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018226,000445: 22,2555 00005 4
018227,000446: 22,2556 52415 DAD SL3
018228,000447: 22,2557 00003 2
018229,000448: 22,2560 77604 BOVB
018230,000449: 22,2561 45761 SIGNMPAC
018231,000450: 22,2562 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
018232,000451:
018233,000452: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
018234,000453:
018235,000454: 22,2563 41345 DLOAD DMP
018236,000455: 22,2564 03343 COF
018237,000456: 22,2565 03345 COF +2
018238,000457: 22,2566 72405 DMP SL1
018239,000458: 22,2567 00005 4
018240,000459: 22,2570 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
018241,000460: 22,2571 03347 COF +4
018242,000461: 22,2572 00001 0
018243,000462: 22,2573 43206 PUSH DAD # D8 UZ SIN A $ 4
018244,000463: 22,2574 00007 6
018245,000464: 22,2575 41112 SL2 BOVB
018246,000465: 22,2576 45761 SIGNMPAC
018247,000466: 22,2577 17434 STODL DEL +6
018248,000467: 22,2600 62421 BDSU SL2
018249,000468: 22,2601 77604 BOVB
018250,000469: 22,2602 45761 SIGNMPAC
018251,000470: 22,2603 17430 STODL DEL +2
018252,000471: 22,2604 03343 COF
018253,000472: 22,2605 41205 DMP DMP
018254,000473: 22,2606 03347 COF +4
018255,000474: 22,2607 00005 4
018256,000475: 22,2610 65352 SL1 PDDL # D6 UX UZ (1-COS A) $ 4
018257,000476: 22,2611 03345 COF +2
018258,000477: 22,2612 41405 DMP PUSH # D8 UY SIN(A)
018259,000478: 22,2613 00001 0
018260,000479: 22,2614 62415 DAD SL2
018261,000480: 22,2615 00007 6
018262,000481: 22,2616 77604 BOVB
018263,000482: 22,2617 45761 SIGNMPAC
018264,000483: 22,2620 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
018265,000484: 22,2621 62421 BDSU SL2
018266,000485: 22,2622 77604 BOVB
018267,000486: 22,2623 45761 SIGNMPAC
018268,000487: 22,2624 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
018269,000488: 22,2625 03345 COF +2
018270,000489: 22,2626 41205 DMP DMP
018271,000490: 22,2627 03347 COF +4
018272,000491: 22,2630 00005 4
018273,000492: 22,2631 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
018274,000493: 22,2632 03343 COF
018275,000494: 22,2633 41405 DMP PUSH # D8 UX SIN(A)
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Page 413
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018277,000496: 22,2634 00001 0
018278,000497: 22,2635 62415 DAD SL2
018279,000498: 22,2636 00007 6
018280,000499: 22,2637 77604 BOVB
018281,000500: 22,2640 45761 SIGNMPAC
018282,000501: 22,2641 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
018283,000502: 22,2642 62421 BDSU SL2
018284,000503: 22,2643 77604 BOVB
018285,000504: 22,2644 45761 SIGNMPAC
018286,000505: 22,2645 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
018287,000506: 22,2646 77616 RVQ
018288,000507:
018289,000508: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
018290,000509: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
018291,000510: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
018292,000511: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
018293,000512:
018294,000513: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
018295,000514:
018296,000515: # C =COS(THETA)COS(PSI)
018297,000516: # 0
018298,000517: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
018299,000518: # 1
018300,000519: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
018301,000520: # 2
018302,000521: # C =SIN(PSI)
018303,000522: # 3
018304,000523: # C =COS(PSI)COS(PHI)
018305,000524: # 4
018306,000525: # C =-COS(PSI)SIN(PHI)
018307,000526: # 5
018308,000527: # C =-SIN(THETA)COS(PSI)
018309,000528: # 6
018310,000529: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
018311,000530: # 7
018312,000531: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
018313,000532: # 8
018314,000533:
018315,000534: # WHERE PHI = OGA
018316,000535: # THETA = IGA
018317,000536: # PSI = MGA
018318,000537:
018319,000538: 22,2647 67543 DCMTOCDU DLOAD* ARCSIN
018320,000539: 22,2650 00007 6,1
018321,000540: 22,2651 71406 PUSH COS # PD +0 PSI
018322,000541: 22,2652 41152 SL1 BOVB
018323,000542: 22,2653 45761 SIGNMPAC
018324,000543: 22,2654 00051 STORE S1
018325,000544: 22,2655 57543 DLOAD* DCOMP
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Page 414
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018327,000546: 22,2656 00015 12D,1
018328,000547: 22,2657 67471 DDV ARCSIN
018329,000548: 22,2660 00051 S1
018330,000549: 22,2661 51123 PDDL* BPL # PD +2 THETA
018331,000550: 22,2662 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
018332,000551: 22,2663 44675 OKTHETA # TO DETERMINE THE PROPER QUADRANT
018333,000552: 22,2664 57545 DLOAD DCOMP
018334,000553: 22,2665 43244 BPL DAD
018335,000554: 22,2666 44672 SUHALFA
018336,000555: 22,2667 15334 DPHALF
018337,000556: 22,2670 77650 GOTO
018338,000557: 22,2671 44674 CALCPHI
018339,000558: 22,2672 77625 SUHALFA DSU
018340,000559: 22,2673 15334 DPHALF
018341,000560: 22,2674 77606 CALCPHI PUSH
018342,000561: 22,2675 57543 OKTHETA DLOAD* DCOMP
018343,000562: 22,2676 00013 10D,1
018344,000563: 22,2677 67471 DDV ARCSIN
018345,000564: 22,2700 00051 S1
018346,000565: 22,2701 51123 PDDL* BPL # PUSH DOWN PHI
018347,000566: 22,2702 00011 8D,1
018348,000567: 22,2703 44715 OKPHI
018349,000568: 22,2704 57545 DLOAD DCOMP # PUSH UP PHI
018350,000569: 22,2705 43244 BPL DAD
018351,000570: 22,2706 44712 SUHALFAP
018352,000571: 22,2707 15334 DPHALF
018353,000572: 22,2710 77650 GOTO
018354,000573: 22,2711 44716 VECOFANG
018355,000574: 22,2712 52025 SUHALFAP DSU GOTO
018356,000575: 22,2713 15334 DPHALF
018357,000576: 22,2714 44716 VECOFANG
018358,000577: 22,2715 77745 OKPHI DLOAD # PUSH UP PHI
018359,000578: 22,2716 43466 VECOFANG VDEF RVQ
018360,000579:
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Page 415
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018362,000581: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018363,000582:
018364,000583: 22,2717 77776 NOGOM3 EXIT
018365,000584: 22,2720 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
018366,000585: 22,2721 04636 TC BANKCALL
018367,000586: 22,2722 40203 CADR ZEROEROR
018368,000587:
018369,000588: 22,2723 00004 NOGO INHINT
018370,000589: 22,2724 04463 TC STOPRATE
018371,000590:
018372,000591: 22,2725 34767 CAF R67BIT
018373,000592: 22,2726 70104 MASK FLAGWRD8
018374,000593: 22,2727 00006 EXTEND
018375,000594: 22,2730 12740 BZF NOTR67ND
018376,000595:
018377,000596: 22,2731 35016 CAF 1SEC # WAITLIST TASK IN 1 SECON:
018378,000597: 22,2732 05233 TC WAITLIST # RETURN TO UPDTCALL
018379,000598: 22,2733 E6,1661 EBANK= BCDU
018380,000599: 22,2733 02320 74066 2CADR R67
018381,000600:
018382,000601: 22,2735 05402 TC PHASCHNG
018383,000602: 22,2736 00111 OCT 00111
018384,000603:
018385,000604: 22,2737 01,2025 1P11SPT2 = 1.11SPOT
018386,000605: 22,2737 05205 TC ENDOFJOB
018387,000606:
018388,000607: 22,2740 34767 NOTR67ND CAF TWO # RETURN VIA
018389,000608: 22,2741 05233 TC WAITLIST # GOODEND
018390,000609: 22,2742 E6,1661 EBANK= BCDU
018391,000610: 22,2742 02311 20066 2CADR ENDMANU
018392,000611:
018393,000612: 22,2744 15205 TCF ENDOFJOB
End of include-file ANGLFIND.agc. Parent file is MAIN.agc